Kyoung Kwan Ahn

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In this paper, the application of modified genetic algorithms (MGA) in the parameterization of the 2-link pneumatic artificial muscle (PAM) manipulator is investigated. The optimum search technique, MGA-based ID method, is used to identify the parameters of the prototype 2-link pneumatic artificial muscle (PAM) manipulator described by an ARX model in the(More)
The pneumatic artificial muscle (PAM) is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as rubber actuator and PAM manipulators because it provides these advantages such as high strength and high power/ weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and(More)
Shape memory alloy (SMA) actuators, which have ability to return to a predetermined shape when heated, have many potential applications in aeronautics, surgical tools, robotics and so on. Although the number of applications is increasing, there has been limited success in precise motion control since the systems are disturbed by unknown factors beside their(More)
We have developed a continuous nonsingular terminal sliding-mode control with time delay estimation (TDE) for Shape memory alloys (SMA) actuators. The proposed method does not need to describe a mathematical model of a hysteresis effect and other nonlinearities; thus, it is simple and model-free. The proposed control consists of three elements which have(More)
Hydraulic systems play an important role in modern industry for the reason that hydraulic actuator systems take many advantages over other technologies. Therefore, hydraulic actuator has a wide range of application fields where controlled forces or pressures with high accuracy and fast response is the most significant demand. However, disturbances in the(More)
We investigated the possibility of applying a hybrid feed-forward inverse nonlinear auto-regressive with exogenous input (NARX) fuzzy model-PID controller to a nonlinear pneumatic artificial muscle (PAM) robot arm to improve its joint angle position output performance. The proposed hybrid inverse NARX fuzzy-PID controller is implemented to control a PAM(More)